Add tests type_support module (#1308)

* Add tests getters msg type support
* Add missing fini
* Add tests type_support services
* Reformat to re use test structure
* Remove not needed headers
* Improve teardown test cases
* Add nullptr checks to type_support tests
* Reformat type_support testing
* Replace expect tests with asserts
* "Improve error msg for rcl_service_ini/fini fail"
* Improve test readability

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>

rclcpp/test/CMakeLists.txt

@@ -407,6 +407,16 @@ if(TARGET test_subscription_traits)
   )
   target_link_libraries(test_subscription_traits ${PROJECT_NAME})
 endif()
+ament_add_gtest(test_type_support rclcpp/test_type_support.cpp)
+if(TARGET test_type_support)
+  ament_target_dependencies(test_type_support
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_type_support ${PROJECT_NAME})
+endif()
 ament_add_gtest(test_find_weak_nodes rclcpp/test_find_weak_nodes.cpp)
 if(TARGET test_find_weak_nodes)
   ament_target_dependencies(test_find_weak_nodes

rclcpp/test/rclcpp/test_service.cpp

@@ -141,5 +141,10 @@ TEST_F(TestService, basic_public_getters) {
     // Use get_service_handle specific to const service
     std::shared_ptr<const rcl_service_t> const_service_handle = base.get_service_handle();
     EXPECT_NE(nullptr, const_service_handle);
+
+    EXPECT_EQ(
+      RCL_RET_OK, rcl_service_fini(
+        &service_handle,
+        node_handle_int->get_node_base_interface()->get_rcl_node_handle()));
   }
 }

rclcpp/test/rclcpp/test_type_support.cpp

@@ -0,0 +1,199 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/type_support_decl.hpp"
+#include "test_msgs/msg/empty.hpp"
+
+class TestTypeSupport : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    if (!rclcpp::ok()) {
+      rclcpp::init(0, nullptr);
+    }
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+  ::testing::AssertionResult test_type_support_init_fini(const rosidl_service_type_support_t * ts)
+  {
+    rcl_service_t service_handle = rcl_get_zero_initialized_service();
+    rcl_service_options_t service_options = rcl_service_get_default_options();
+    auto node_handle = node->get_node_base_interface()->get_rcl_node_handle();
+    rcl_ret_t ret = rcl_service_init(
+      &service_handle, node_handle, ts, "base_node_service", &service_options);
+    if (ret != RCL_RET_OK) {
+      return ::testing::AssertionFailure() <<
+             "Failed rcl_service_init with error string: " << rcl_get_error_string().str;
+    }
+    ret = rcl_service_fini(&service_handle, node_handle);
+    if (ret != RCL_RET_OK) {
+      return ::testing::AssertionFailure() <<
+             "Failed rcl_service_fini with error string: " << rcl_get_error_string().str;
+    }
+    return ::testing::AssertionSuccess();
+  }
+
+protected:
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+};
+
+const rcl_publisher_options_t PublisherOptions()
+{
+  return rclcpp::PublisherOptionsWithAllocator<std::allocator<void>>().template
+         to_rcl_publisher_options<test_msgs::msg::Empty>(rclcpp::QoS(10));
+}
+
+// Auxiliary classes used to test rosidl_message_type_support_t getters
+// defined in type_support.hpp
+const rosidl_message_type_support_t * ts_parameter_event =
+  rclcpp::type_support::get_parameter_event_msg_type_support();
+
+class TestTSParameterEvent : public rclcpp::PublisherBase
+{
+public:
+  explicit TestTSParameterEvent(rclcpp::Node * node)
+  : rclcpp::PublisherBase(
+      node->get_node_base_interface().get(),
+      "topicTSParameterEvent",
+      *ts_parameter_event,
+      PublisherOptions()) {}
+};
+
+const rosidl_message_type_support_t * ts_set_parameter_result =
+  rclcpp::type_support::get_set_parameters_result_msg_type_support();
+
+class TestTSSetParameterResult : public rclcpp::PublisherBase
+{
+public:
+  explicit TestTSSetParameterResult(rclcpp::Node * node)
+  : rclcpp::PublisherBase(
+      node->get_node_base_interface().get(),
+      "topicTSSetParameterResult",
+      *ts_set_parameter_result,
+      PublisherOptions()) {}
+};
+
+const rosidl_message_type_support_t * ts_parameter_descriptor =
+  rclcpp::type_support::get_parameter_descriptor_msg_type_support();
+
+class TestTSParameterDescriptor : public rclcpp::PublisherBase
+{
+public:
+  explicit TestTSParameterDescriptor(rclcpp::Node * node)
+  : rclcpp::PublisherBase(
+      node->get_node_base_interface().get(),
+      "topicTSParameterDescriptor",
+      *ts_parameter_descriptor,
+      PublisherOptions()) {}
+};
+
+const rosidl_message_type_support_t * ts_list_parameter_result =
+  rclcpp::type_support::get_list_parameters_result_msg_type_support();
+
+class TestTSListParametersResult : public rclcpp::PublisherBase
+{
+public:
+  explicit TestTSListParametersResult(rclcpp::Node * node)
+  : rclcpp::PublisherBase(
+      node->get_node_base_interface().get(),
+      "topicTSListParametersResult",
+      *ts_list_parameter_result,
+      PublisherOptions()) {}
+};
+
+/*
+   Test that the publisher is created properly for different msg typesupport
+ */
+TEST_F(TestTypeSupport, basic_getters) {
+  {
+    auto publisher = TestTSParameterEvent(node.get());
+    std::shared_ptr<const rcl_publisher_t> publisher_handle = publisher.get_publisher_handle();
+    EXPECT_NE(nullptr, publisher_handle);
+  }
+  {
+    auto publisher = TestTSSetParameterResult(node.get());
+    std::shared_ptr<const rcl_publisher_t> publisher_handle = publisher.get_publisher_handle();
+    EXPECT_NE(nullptr, publisher_handle);
+  }
+  {
+    auto publisher = TestTSParameterDescriptor(node.get());
+    std::shared_ptr<const rcl_publisher_t> publisher_handle = publisher.get_publisher_handle();
+    EXPECT_NE(nullptr, publisher_handle);
+  }
+  {
+    auto publisher = TestTSListParametersResult(node.get());
+    std::shared_ptr<const rcl_publisher_t> publisher_handle = publisher.get_publisher_handle();
+    EXPECT_NE(nullptr, publisher_handle);
+  }
+}
+
+/* Testing type support getters */
+TEST_F(TestTypeSupport, test_service_ts_get_params_srv) {
+  const rosidl_service_type_support_t * ts =
+    rclcpp::type_support::get_get_parameters_srv_type_support();
+  ASSERT_NE(nullptr, ts);
+  EXPECT_TRUE(test_type_support_init_fini(ts));
+}
+
+TEST_F(TestTypeSupport, test_service_ts_get_params_srv_type) {
+  const rosidl_service_type_support_t * ts =
+    rclcpp::type_support::get_get_parameters_srv_type_support();
+  ASSERT_NE(nullptr, ts);
+  EXPECT_TRUE(test_type_support_init_fini(ts));
+}
+
+TEST_F(TestTypeSupport, test_service_ts_get_parameters_types_srv) {
+  const rosidl_service_type_support_t * ts =
+    rclcpp::type_support::get_get_parameter_types_srv_type_support();
+  ASSERT_NE(nullptr, ts);
+  EXPECT_TRUE(test_type_support_init_fini(ts));
+}
+
+TEST_F(TestTypeSupport, test_service_ts_set_params_srv) {
+  const rosidl_service_type_support_t * ts =
+    rclcpp::type_support::get_set_parameters_srv_type_support();
+  ASSERT_NE(nullptr, ts);
+  EXPECT_TRUE(test_type_support_init_fini(ts));
+}
+
+TEST_F(TestTypeSupport, test_service_ts_list_params_srv) {
+  const rosidl_service_type_support_t * ts =
+    rclcpp::type_support::get_list_parameters_srv_type_support();
+  ASSERT_NE(nullptr, ts);
+  EXPECT_TRUE(test_type_support_init_fini(ts));
+}
+
+TEST_F(TestTypeSupport, test_service_ts_describe_params_srv) {
+  const rosidl_service_type_support_t * ts =
+    rclcpp::type_support::get_describe_parameters_srv_type_support();
+  ASSERT_NE(nullptr, ts);
+  EXPECT_TRUE(test_type_support_init_fini(ts));
+}
+
+TEST_F(TestTypeSupport, test_service_ts_set_params_atomically_srv) {
+  const rosidl_service_type_support_t * ts =
+    rclcpp::type_support::get_set_parameters_atomically_srv_type_support();
+  ASSERT_NE(nullptr, ts);
+  EXPECT_TRUE(test_type_support_init_fini(ts));
+}